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In-Flight Solar Radiation Intensity Measurement Using A Small Unmanned Aerial Vehicle Cover

In-Flight Solar Radiation Intensity Measurement Using A Small Unmanned Aerial Vehicle

Journal of Automation, Mobile Robotics and Intelligent Systems
Volume 19 (2025): Issue 4 (December 2025)
By: Rafał Ożóg,  Mariusz Jacewicz,  Robert Głębocki and  Juliusz Hanke  
Open Access
|Dec 2025

Figures & Tables

Figure 1.

Visualization of the AZ-5 UAV research platform
Visualization of the AZ-5 UAV research platform

Figure 2.

Basic dimensions of the AZ-5 UAV research platform
Basic dimensions of the AZ-5 UAV research platform

Figure 3.

Test platform used in the experiments
Test platform used in the experiments

Figure 4.

BH1750 light sensor
BH1750 light sensor

Figure 5.

Sensor mounted on the surface of the left wing
Sensor mounted on the surface of the left wing

Figure 6.

Completed set of solar radiation measurement system
Completed set of solar radiation measurement system

Figure 7.

Microcontroller protocol communication test
Microcontroller protocol communication test

Figure 8.

(a) Stationary test stand during experiments in Brisbane (b) Solar Survey 100 irradiance meter
(a) Stationary test stand during experiments in Brisbane (b) Solar Survey 100 irradiance meter

Figure 9.

Coordinate systems used in the model
Coordinate systems used in the model

Figure 10.

Aerodynamic coefficients of the airplane (a) drag (b) side force (c) lift force (d) rolling moment (e) pitching moment (f) yawing moment
Aerodynamic coefficients of the airplane (a) drag (b) side force (c) lift force (d) rolling moment (e) pitching moment (f) yawing moment

Figure 11.

Thrust coefficient
Thrust coefficient

Figure 12.

Solar azimuth and elevation angles
Solar azimuth and elevation angles

Figure 13.

Solar radiation model implemented in SIMULINK
Solar radiation model implemented in SIMULINK

Figure 14.

Aircraft ready to start at the runway in Przasnysz airfield.
Aircraft ready to start at the runway in Przasnysz airfield.

Figure 15.

Aircraft flight parameters (a) position (b) roll, pitch, yaw angles (c) battery voltage, current, and consumed energy (case 1)
Aircraft flight parameters (a) position (b) roll, pitch, yaw angles (c) battery voltage, current, and consumed energy (case 1)

Figure 16.

Solar illuminance, radiation intensity, and energy (case 1)
Solar illuminance, radiation intensity, and energy (case 1)

Figure 17.

Roll, pitch, yaw angles (case 1, enlarged view)
Roll, pitch, yaw angles (case 1, enlarged view)

Figure 18.

Solar illuminance, radiation intensity, and energy (case 1, enlarged view)
Solar illuminance, radiation intensity, and energy (case 1, enlarged view)

Figure 19.

Approximate aircraft location at energy peak (case 1, enlarged view)
Approximate aircraft location at energy peak (case 1, enlarged view)

Figure 20.

Aircraft flight parameters (a) position (b) roll, pitch, yaw angles (c) battery voltage, current, and consumed energy (case 2)
Aircraft flight parameters (a) position (b) roll, pitch, yaw angles (c) battery voltage, current, and consumed energy (case 2)

Figure 21.

Solar illuminance, radiation intensity, and energy (case 2)
Solar illuminance, radiation intensity, and energy (case 2)

Figure 22.

Roll, pitch, yaw angles (case 2, enlarged view)
Roll, pitch, yaw angles (case 2, enlarged view)

Figure 23.

Solar illuminance, radiation intensity, and energy (case 2, enlarged view)
Solar illuminance, radiation intensity, and energy (case 2, enlarged view)

Figure 24.

Approximate aircraft location at energy peak (case 2, enlarged view)
Approximate aircraft location at energy peak (case 2, enlarged view)

Figure 25.

Aircraft flight parameters (a) position (b) roll, pitch, yaw angles (c) battery voltage, current, and consumed energy (case 3)
Aircraft flight parameters (a) position (b) roll, pitch, yaw angles (c) battery voltage, current, and consumed energy (case 3)

Figure 26.

Solar illuminance, radiation intensity, and energy (case 3)
Solar illuminance, radiation intensity, and energy (case 3)

Figure 27.

Roll, pitch, yaw angles (case 3, enlarged view)
Roll, pitch, yaw angles (case 3, enlarged view)

Figure 28.

Solar illuminance, radiation intensity, and energy (case 3, enlarged view)
Solar illuminance, radiation intensity, and energy (case 3, enlarged view)

Figure 29.

Approximate aircraft location at energy peak (case 3, enlarged view)
Approximate aircraft location at energy peak (case 3, enlarged view)

Power consumption of system’s components

Test caseVoltage [V]Current [A]Power [W]
Solar radiation measurement system9.110.0750.683
Avionics + propulsion (main motor off)12.400.5757.130
Avionics + propulsion (main motor on – at cruise RPM)9.5529.460281.343
Avionics + propulsion (main motor on – maximum RPM)8.8070.270618.376

Stability and control derivatives of the Funcub plane

LongitudinalValueUnitLateral–directionalValueUnit
CX0WlC_{{X_0}}^{Wl}0,01920–CY0wlC_{{Y_0}}^{wl}0–
CXαwlC_{{X_\alpha }}^{wl}0,016531/radCYBwlC_{{Y_B}}^{wl}–0,262401/rad
CXα2wlC_{{X_{{\alpha _2}}}}^{wl}1,539001/rad2CYPwlC_{{Y_P}}^{wl}–0,076071/rad
CXQwlC_{{X_o}}^{wl}0,299271/radCYRwlC_{{Y_R}}^{wl}0,223201/rad
CXδEwlC_{{X_{{\delta _E}}}}^{wl}0,009891/radCYδAwlC_{{Y_{{\delta _A}}}}^{wl}01/rad
CZ0wlC_{{Z_0}}^{wl}0,14840–CYδRwlC_{{Y_{{\delta _R}}}}^{wl}0,114501/rad
CZαWLC_{{Z_\alpha }}^{WL}4,220001/radCl0WC_{{l_0}}^W0–
CZQwlC_{{Z_Q}}^{wl}7,089301/radClβwC_{{l_\beta }}^w–0,007891/rad
CZδEwlC_{{Z_{{\delta _F}}}}^{wl}0,498471/radClPwC_{{l_P}}^w–0,460791/rad
Cm0wC_{{m_0}}^w0,03794–ClRwC_{{l_R}}^w0,103621/rad
CmαwC_{{m_\alpha }}^w–1,689001/radClδAwC_{{l_{{\delta _A}}}}^w–0,143241/rad
CmQwC_{{m_Q}}^w–9,694501/radClδRwC_{{l_{{\delta _R}}}}^w0,013021/rad
CmδEwC_{{m_{{\delta _F}}}}^w–1,203201/radCn0wC_{{n_0}}^w0–
CnβwC_{{n_B}}^w0,143301/rad
CnPwC_{{n_P}}^w–0,024061/rad
CnRwC_{{n_R}}^w–0,106151/rad
CNδAwC_{{N_{{\delta _A}}}}^w01/rad
CnδRwC_{{n_{{\delta _R}}}}^w–0,054601/rad
DOI: https://doi.org/10.14313/jamris-2025-035 | Journal eISSN: 2080-2145 | Journal ISSN: 1897-8649
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Language: English
Page range: 52 - 69
Submitted on: Jan 8, 2024
|
Accepted on: May 6, 2024
|
Published on: Dec 24, 2025
Published by: Łukasiewicz Research Network – Industrial Research Institute for Automation and Measurements PIAP
In partnership with: Paradigm Publishing Services
Publication frequency: 4 issues per year
Keywords:
Solar-powered UAV,
Solar energy model,
Flight tests,
Mathematical modeling,
Solar radiation measurement
Related subjects:
Computer sciences,
Artificial intelligence,
Engineering,
Electrical engineering,
Control engineering, metrology and testing,
Mechanical engineering,
Fundamentals of mechanical engineering

© 2025 Rafał Ożóg, Mariusz Jacewicz, Robert Głębocki, Juliusz Hanke, published by Łukasiewicz Research Network – Industrial Research Institute for Automation and Measurements PIAP
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

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